I did the same upgrade over the weekend and ran into this same bug. I
applied a variation of David Wilson's workaround.

I first booted on a 19.04 liveCD (downloaded from http://old-
releases.ubuntu.com/releases/disco/), 20.04 liveCD also wouldn't boot
(never tried the 19.10 liveCD), and then chrooted into my broken system
using instructions from
https://help.ubuntu.com/community/LiveCdRecovery#Update_Failure

I added

deb http://old-releases.ubuntu.com/ubuntu disco main restricted universe 
multiverse
deb http://old-releases.ubuntu.com/ubuntu disco-updates main restricted 
universe multiverse
deb http://old-releases.ubuntu.com/ubuntu disco-security main restricted 
universe multiverse

To /etc/apt/sources.list, and created /etc/apt/preferences.d/grub with
contents:

Package: *
Pin: release n=disco
Pin-Priority: -10

Package: grub-common
Pin: release n=disco
Pin-Priority: 1000

Package: grub-efi-amd64
Pin: release n=disco
Pin-Priority: 1000

Package: grub-efi-amd64-bin
Pin: release n=disco
Pin-Priority: 1000

Package: grub-efi-amd64-signed
Pin: release n=disco
Pin-Priority: 1000

Package: grub2-common
Pin: release n=disco
Pin-Priority: 1000

and then ran

apt update
apt upgrade

which warned me about _downgrading_ grub, which is exactly what I want
for the workaround.

Until I remove the preferences file which pins the grub version I'm not
in danger of overwriting the old grub packages on a regular upgrade.

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https://bugs.launchpad.net/bugs/1853369

Title:
  [19.10] Boot hangs at "loading initial ramdisk"

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